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摘要: 构建了一种混合队列中人工驾驶汽车(HDV)和智能网联汽车(CAV)的信息交互形式，基于此为CAV设计了反馈前馈控制器，并针对其中的控制参数提出了以减缓交通振荡为目标的优化方法；创建了由混合队列构成的环形封闭系统，其中CAV可间隔HDV进行车间通信；基于对HDV跟驰行为及其不确定性的建模，采用三阶车辆动力学模型、定时距规则以及反馈前馈控制器对CAV的控制策略进行设计；利用新一代仿真数据集和快速傅里叶变换分析了HDV速度波动的主要频率范围，构建了CAV对速度波动抑制程度的指标；在考虑HDV行为不确定性的前提下，针对此频率构造了同时优化弦稳定性水平与抑制速度波动的目标函数；基于实车轨迹数据，在考虑不同市场渗透率和CAV空间分布的情形下，对控制方法进行多维仿真评价。分析结果显示：相比于参考策略，CAV自身平均加速度波动减小10.9%~14.1%，最大速度波动减小7.8%~10.8%，碰撞减速度减小1.8%~21.6%，油耗降低2.9%~3.9%；对于整个混合车队，当CAV为均匀分布时，舒适、稳定、安全、节能等方面均有提升，并且在30%~60%的中等市场渗透率下提升效果显著。可见，控制方法可以有效抑制速度波动，大幅度提升CAV减缓交通振荡的能力。Abstract: An information interaction form between human-driven vehicle (HDV) and connected automated vehicle (CAV) in a mixed platoon was established, based on which a feedback feedforward controller was designed for CAVs. Besides, an optimization method targeting the control parameters of CAVs was proposed to mitigate traffic oscillations. A circular closed system with a mixed platoon was formulated, where CAVs can transfer information through vehicle-to-vehicle communication spaced by HDVs. Based on the modelling of HDV car-following behaviors and their uncertainty, a third-order vehicle dynamics model, constant time gap policy, and feedback feedforward controller were used to design the control strategy for CAVs. A new generation of simulation data and fast Fourier transform were used to analyze the predominant frequency range of speed fluctuation of HDVs, and an index of the suppression degree of CAVs to speed fluctuation was constructed. By considering the uncertainty of HDV behaviors, an objective function was constructed for this frequency range to simultaneously optimize the string stability and suppress speed variation. Based on the real vehicle trajectory data, the control method was evaluated with simulations from multiple dimensions under the scenarios of different market penetration rates and spatial distributions of CAVs. Analysis results show that compared with reference strategies, the average acceleration variation of the individual CAV reduces by 10.9%-14.1%, and the maximum speed variation reduces by 7.8%-10.8%. The deceleration rate to avoid the crash reduces by 1.8%-21.6%, and the fuel consumption reduces by 2.9%-3.9%. For the whole mixed platoon, the comfort, stability, safety, and energy saving all improve when CAVs are uniformly distributed. The improvement effect is significant under the medium market penetration rate of 30%-60%. So, the control method can effectively suppress speed variation and substantially improve the ability of CAVs to mitigate traffic oscillations.
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图 2 不同控制策略在混合场景的适用性
Figure 2. Availabilities of different control strategies in mixed scenarios
图 6 不同人工参数α和β下CAV的弦稳定域以及抑制率
Figure 6. String stability regions and damping ratios of CAV for different human parameters α and β
图 7 不同人工参数th和φ下CAV的弦稳定域以及抑制率
Figure 7. String stability regions and damping ratios of CAV for different human parameters th and φ
图 8 期望时距、HDV数量和通信延迟对弦稳定概率以及目标函数的影响
Figure 8. Influences of desired time gap, number of HDVs and communication delay on SSR and objective function
图 9 期望时距、HDV数量和控制延迟对弦稳定概率以及目标函数的影响
Figure 9. Influences of desired time gap, number of HDVs and control delay on SSR and objective function
图 10 不同控制策略下CAV的速度波动
Figure 10. Speed perturbations of CAVs in different control strategies
图 12 均匀分布下车辆的时空轨迹
Figure 12. Spatial-temporal trajectories of vehicles under uniform distribution
图 13 混合车队综合控制效果评价指标
Figure 13. Integrated control effectiveness evaluation indicators for mixed platoon
表 1 优化的控制参数
Table 1. Optimized control parameters
控制方法 m αv βv th, v φv k1 k2 混合队列控制，
μ=0.11 0.66 0.23 1.31 0 0.02 1.13 2 0.63 0.30 1.13 0 0.02 1.24 3 0.46 0.31 1.22 0 0.11 1.35 混合队列控制，
μ=0.31 0.60 0.83 1.09 0 0.05 1.25 2 0.58 0.23 1.10 0 0.11 1.30 3 0.46 0.35 1.15 0 0.01 1.27 混合队列控制，
μ=0.51 0.69 0.91 1.04 0 0.03 0.21 2 0.57 0.26 1.10 0 0.06 1.36 3 0.54 0.34 1.28 0 0.01 0.21 混合队列控制，
μ=0.71 0.73 0.81 1.03 0 0.02 0.16 2 0.61 0.47 1.02 0 0.01 0.22 3 0.45 0.42 1.19 0 0.01 0.25 混合队列控制，
μ=0.91 0.75 1.00 1.02 0 0.02 0.15 2 0.74 0.53 0.89 0 0.01 0.14 3 0.45 0.43 1.18 0 0.01 0.19 CACCu 1 0.40 0.21 1.62 0 0.50 1.00 2 0.50 0.25 1.61 0 0.50 1.00 3 0.38 0.33 1.16 0 0.50 1.00 
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表 2 不同控制策略下CAV的指标
Table 2. Indicators of CAVs in different control strategies
场景 m 控制策略 MAV/(m·s-2) AAV/(m·s-2) MSV/(m·s-1) ASV/(m·s-1) DRAC/(m·s-2) FC/mL 1 1 混合队列控制 1.43 0.49 3.67 1.85 0.53 34.56 CACCu 1.58 0.54 3.96 1.94 0.58 35.61 ACC 1.55 0.56 3.97 2.01 0.68 36.08 2 混合队列控制 1.43 0.47 3.65 1.89 0.50 34.35 CACCu 1.57 0.55 3.98 1.98 0.59 35.96 ACC 1.55 0.56 3.97 2.01 0.68 36.08 3 混合队列控制 1.42 0.49 3.69 1.91 0.59 34.60 CACCu 1.54 0.53 3.95 1.95 0.63 35.48 ACC 1.55 0.56 3.97 2.01 0.68 36.08 2 1 混合队列控制 0.98 0.36 2.88 1.39 0.43 23.70 CACCu 1.12 0.41 3.17 1.44 0.46 24.43 ACC 1.31 0.44 3.51 1.53 0.61 24.77 2 混合队列控制 1.07 0.37 2.96 1.43 0.54 23.95 CACCu 1.23 0.43 3.40 1.49 0.46 24.67 ACC 1.31 0.44 3.51 1.53 0.61 24.77 3 混合队列控制 1.14 0.39 3.21 1.45 0.44 24.06 CACCu 1.16 0.43 3.31 1.43 0.41 24.52 ACC 1.31 0.44 3.51 1.53 0.61 24.77
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